Abstract
This paper presents the velocity estimation of a mobile robot using a regular polygonal array of optical flow sensors that are installed at the bottom of a mobile robot. First, the basic principle of the proposed localization scheme is described, which is motivated from the changing optical flow sensor readings according to the mobile robot traveling pattern. Second, the velocity kinematic mapping from a mobile robot to an array of optical flow sensors is derived as an overdetermined linear system. Third, for a given set of optical flow sensor readings, the mobile robot velocity is estimated based on the least squares solution to the derived system. Finally, simulation results are given to demonstrate the validity of the proposed velocity estimation.
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© 2007 Springer-Verlag Berlin Heidelberg
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Kim, S., Jeong, I., Lee, S. (2007). Mobile Robot Velocity Estimation Using a Regular Polygonal Array of Optical Flow Sensors. In: Huang, DS., Heutte, L., Loog, M. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Contemporary Intelligent Computing Techniques. ICIC 2007. Communications in Computer and Information Science, vol 2. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74282-1_72
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DOI: https://doi.org/10.1007/978-3-540-74282-1_72
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74281-4
Online ISBN: 978-3-540-74282-1
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